public IObstacle CreateObstacle()
{
var maxShift = 600;
var vxCount = rnd.Next(3, 5);
var points = new List <Vector2>();
var shiftX = rnd.Next(maxShift);
var shiftY = rnd.Next(maxShift);
for (int i = 0; i < vxCount; i++)
{
var p = new Vector2((float)rnd.NextDouble() * bounds.Width / 5, (float)rnd.NextDouble() * bounds.Height / 8);
p.X += shiftX;
p.Y += shiftY;
if (points.Count > 2)
{
if (new Obstacle(points.ToArray()).Contains(p))
{
i--;
continue;
}
}
points.Add(p);
}
var sorter = new PointsSorter();
var sorted = points.ToArray();//sorter.Sort(points.ToArray());
return(new Obstacle(sorted));
}
private Vector2[] FindLightPoints(Vector2 position)
{
var rays = new List <Vector2>();
foreach (var obs in obstacles)
{
foreach (var node in obs.Points)
{
var relative = node - position;
var zeroDotProd = new Vector2(-relative.Y, relative.X);
var normalZeroDot = zeroDotProd / zeroDotProd.Length();
var scaledZeroDot = normalZeroDot / 2;// / (int)1e1;
rays.Add(relative);
rays.Add(relative + scaledZeroDot);
rays.Add(relative - scaledZeroDot);
//renderer.RenderDots(new[] { position + relative + scaledZeroDot, position + relative - scaledZeroDot });
}
}
//renderer.RenderRays(position, rays.ToArray());
var segments = new List <(float x1, float y1, float x2, float y2)>();
foreach (var obs in obstacles)
{
segments.AddRange(obs.ChopSegments());
}
var result = new List <Vector2>();
foreach (var ray in rays)
{
var eps = 1e-6;
var t1s = new List <double>();
var R0x = position.X;
var R0y = position.Y;
var ax = ray.X;
var ay = ray.Y;
foreach (var seg in segments)
{
var S0x = seg.x1;
var S0y = seg.y1;
var bx = seg.x2 - seg.x1;
var by = seg.y2 - seg.y1;
var q = ax * by - ay * bx;
if (q == 0)
{
return(null);
}
//if (Math.Abs(ax * by - ay * bx) < eps) continue;
//var t2 = (ax * (S0y - R0y) - ay * (S0x - R0x)) / (ay * bx - ax * by);
//if (t2 == float.NaN) { }
var dx = R0x - S0x;
var dy = R0y - S0y;
var t1 = (bx * dy - by * dx) / q;
var t2 = (ax * dy - ay * dx) / q;
//#warning Тут division by ZERO
//var (ax, ay) = r1.Direction.ToTuple();
//var (bx, by) = r2.Direction.ToTuple();
//var (dx, dy) = (r1.Origin - r2.Origin).ToTuple();
//var q = ax * by - ay * bx;
//if (q == 0) return null;
//var t1 = (bx * dy - by * dx) / q;
//var t2 = (ax * dy - ay * dx) / q;
//return (t1, t2);
//var t1 = (S0x - R0x + bx * t2) / ax;
//if (t1 == float.NaN) { }
//var t1 =
if (t1 < 0)
{
continue;
}
if (t2 < -eps || t2 > 1 + eps)
{
continue;
}
t1s.Add(t1);
}
if (t1s.Count < 1)
{
continue;
}
var mint1 = t1s.Min();
result.Add(new Vector2((float)(R0x + ax * mint1), (float)(R0y + ay * mint1)));
}
var sorter = new PointsSorter();
var sorted = sorter.Sort(result.ToArray(), position);
return(sorted);
}
